CN102267561B - Method of operating and controlling the deflection angle of a control surface of a hybrid helicopter - Google Patents
Method of operating and controlling the deflection angle of a control surface of a hybrid helicopter Download PDFInfo
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- CN102267561B CN102267561B CN201110112899.2A CN201110112899A CN102267561B CN 102267561 B CN102267561 B CN 102267561B CN 201110112899 A CN201110112899 A CN 201110112899A CN 102267561 B CN102267561 B CN 102267561B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/22—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft
- B64C27/26—Compound rotorcraft, i.e. aircraft using in flight the features of both aeroplane and rotorcraft characterised by provision of fixed wings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/82—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft
- B64C2027/8263—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft comprising in addition rudders, tails, fins, or the like
- B64C2027/8281—Rotorcraft; Rotors peculiar thereto characterised by the provision of an auxiliary rotor or fluid-jet device for counter-balancing lifting rotor torque or changing direction of rotorcraft comprising in addition rudders, tails, fins, or the like comprising horizontal tail planes
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- Aviation & Aerospace Engineering (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The method involves controlling steering angles of horizontal tail empennages (25-35) by utilizing a horizontal empennage steering angle control and adjusting loop to reduce total power consumed by a main lifting rotor (10) and a pusher propeller (6) in forward direction. Blades or the pusher propeller are controlled by a speed regulation loop. The steering angles of the horizontal tail empennages are not greater than 10 degrees. Power delivered by a driving source after activation of the steering angle control and adjusting loop is determined. Independent claims are also included for the following: (1) a regulation and control system for a rotorcraft (2) a control program having a set of instructions for executing a rotorcraft controlling and regulating method.
Description
Technical field
The application requires the preceence of No. 1001789th, the french patent application of submitting on April 27th, 2010, the full content of this application with referring to mode include in herein.
The present invention relates to automatically or the general technology field of Semi-automatic flight control system, more particularly, relate to for the rotor craft to particular type, definite be the method that the angle of inclination of hybrid helicopter provided motion tail plane are controlled and regulated.
The present invention relates to rotor craft and for controlling the system of movable tail plane, and according to the angle of inclination of determining tail plane with the special parameter in stabilized flight that high cruising speed is carried out.
Background technology
Term " rotor craft " is used for representing such aircraft, and its lift is all or part of is that the major diameter screw propeller that has a basic vertical axis by (or multiple) provides, and this screw propeller is called " rotor " or " rotor blade ".
Generally speaking, the various dissimilar classification of rotor craft are clearly, but, except at least one main rotor, according to hybrid helicopter provided at least one propelling screws that comprises of the present invention, preferably the propelling screws of two variablepistons, these two propelling screws form the parts of the propulsion unit that is positioned at hybrid helicopter provided left side and right side.
For traditional helicopter, at least one main rotor under appropriate drive is not only for providing lift but also for propulsive force is provided.Helicopter can hover and some place that can be in three dimensional space keeps static, and helicopter can vertical and landing takeoff, can also be along any direction (forward and backward, side direction, up and down) motion.
Generally include control member or module to driving the driving power of conventional helicopters (not thering is propelling screws) to regulate, the power transformation of engine installation output is become motion assembly (rotor and annex) required drive by this control member or module, makes in this way the rotating speed of main rotor and dynamic transfer system remain on setting value.
In the aircraft advancing at the screw propeller by one or more variablepistons, power adjustment generally includes adjustment means and/or module (normally hydraulic mechanical type), thereby the pitch of this adjustment means and/or module transformation propelling screws consumes all usable powers, this usable power depends on how aviator operates throttle (or thrust) control member or bar.
This adjusting of two types cannot superpose for the power of the rotor craft that is equipped with propelling screws is regulated, and this is because these regulation technologies are opposition.Can change antagonism mutually with momentary velocity in dynamic transfer system helicopter being carried out to be used in the process that tradition regulates the member of transformation power, and this momentary velocity variation meeting is owing to causing the thrust variation that screw propeller is exported to cause.
In addition, for the rotor craft that is equipped with propelling screws, described propelling screws is regulated, aviator directly changes the pitch of propelling screws by this, and this can cause propelling unit to damage owing to being transported to this angle of rake drive torque sudden change.
Having in variablepiston screw propeller hybrid helicopter provided, aviator must limit the accumulation pitch variation of upward direction simultaneously and the power that therefore transfers to rotor by engine installation via conveying member changes, thereby avoid exceeding machinery or the range of temperatures of described element, in addition, because same cause limits the thrust control that puts on screw propeller, be airscrewpiston control, as described above.
In addition, because hybrid helicopter provided engine installation is made up of one or more turbine engines, the output speed of turbine engine, screw propeller, rotor and mechanical system that they are interconnected is mutually proportional, under the normal running (operation) conditions of the driving chain of integrating, regardless of hybrid helicopter provided flight structure, this harmony ratio is all constant.
Therefore be appreciated that if hybrid helicopter provided is assembled a turbine engine, this driving engine makes rotor and screw propeller rotation via mechanically interconnected system.But, be equipped with two or more turbine engines if hybrid helicopter provided, rotor and screw propeller are driven in rotation via mechanically interconnected system by described turbine engine.
In other words, under the condition without the revolution ratio between turbine engine, screw propeller, rotor and mechanically interconnected system is changed, drive system is moved.
Therefore, rotor always advantageously drives rotation with normal flight structure by turbine engine, and regardless of aircraft construction, this rotor always produces lift.
Or rather, rotor is designed to thus: for hybrid helicopter provided provide its taking off, all lift of landing and vertical phase, and its part lift during cruising flight is provided, and auxiliary wing is the described hybrid helicopter provided contribution part lift of supporting.
Therefore, in the time of cruising flight, rotor is the hybrid helicopter provided part lift that provides, and also may have a small amount of contribution to propulsive force or tractive force (in helicopter), but to resistance without any contribution.Therefore these service conditions produce the power of decrease, and this power is for providing the tractive force that flows to rotor.By making rotor disk towards a small amount of a small amount of contribution tilting to realize for propulsive force of the anterior do of aircraft.This process is deteriorated very small for the lift/resistance ratios of rotor, therefore aspect dynamic equilibrium than by more favourable the requirement that is applied additional thrust by screw propeller.
Advantageously, wing comprises two half wings, respectively has a half wing in the corresponding side of fuselage.These half wings can form high wing together, and in this case, these half wings preferably have negative dihedral angle.But half wing also can form the low wing preferably with positive dihedral angle,, or half wing is actually the middle wing with any dihedral angle.According to various modification, the aspect of these half wings can be corresponding with rectangle half wing, taper half wing, buzzard-type wing or swept back wing etc.
Below with reference to movable aircraft empennage plane or engine-driven tail plane, mean that the angle of inclination of described tail plane can be taked different numerical value.
In addition, term " aircraft " is quite widely used for the aircraft of various types of formations discussion themes.
In " aircraft " structure, tail plane is the elevating control of aircraft.This is the member that guides control for the pitch to aircraft and vertical speed.
In " helicopter " structure, the tail plane of aircraft is normally static.The tail plane on helicopter with variable angle of inclination can be used for opposing " attitude protuberance (attitude hump) " phenomenon or in flight course forward with horizontal attitude flight, thereby when the center of gravity of helicopter towards rear portion skew long apart from time make resistance minimum or the degree minimum of the attitude that makes to face upward.But, for a certain gait of march, owing to being applied to moment of deflection on rotor mast, be commonly referred to " mast moment " and can become excessive, thereby traditional helicopter cannot keep horizontal attitude in its whole centering scope (, the transformable scope of aircraft center of gravity).Therefore the benefit that, has a tail plane of variable angle of inclination can obtain under the condition of lower or medium gait of march.Above-mentioned introduction is paid the utmost attention to the static tail plane that has flank or do not have flank.
For example, document FR2916420 has disclosed a kind of rotor craft with engine-driven tail plane, and this engine-driven tail plane has engine-driven vertical control surface, with keeping zero mast moment in flight course forward.This can reduce the power on various mechanical parts.
Zero mast moment is corresponding with the particular point of operation of aircraft, therefore only allows dynamic equilibrium to carry out extremely limited optimization.In addition,, in the flight structure of some quantity, cannot keep zero mast moment.
In addition, making mast moment minimized structure in cruising flight must not be to make the minimized structure of required drive.
Summary of the invention
The rotor craft that the object of this invention is to provide a kind of hybrid helicopter provided type of novelty, is wherein optimized dynamic equilibrium, and is optimized under various height and stable gait of march, and no matter the mast moment of rotor how.
Therefore, the object of the invention is to propose a kind of control and control method of novelty, the angle of inclination of the engine drive tailplane plane of the rotor craft of the method to hybrid helicopter provided type are controlled and regulate, with optimizing power balance.
Therefore, another object of the present invention is to attempt to propose a kind of personal vehicle system of novelty, this personal vehicle system comprises to be controlled and regulatory function, to determine and to revise the angle position of the tail plane of the rotor craft of hybrid helicopter provided type, to optimize its dynamic equilibrium.
It should be understood that term " optimizing power balance " is used in reference to by the rotor of the rotor craft of hybrid helicopter provided type and the total output minimum that propelling screws consumes in fast and stable cruising flight process.
In addition, in the understanding of the present invention, it should be understood that term " engine-driven tailplane plane " also covers the embodiment that comprises following rear-fin stabilizer plane, the horizontal control surface of engine drive that this rear-fin stabilizer plane has one or more deflectable flank types.
Obviously, the present invention relates to a kind of aircraft with one or more propelling screws.
Below propose various physical parameters, comprise indicated air velocity IAS, never the never supervelocity (VNE), movable tail plane that should exceed be with respect to angle gait of march U and the actuation duration T of aircraft fuselage.
To having, the rotor craft of high and stable gait of march is controlled and the method that regulates realizes object of the present invention by a kind of, this rotor craft comprises at least one main lifting rotor, at least one variablepiston propelling screws and at least one are for driving the engine installation of main rotor and at least one screw propeller, described method comprises: use the first loop, pitching or longitudinal attitude are regulated by the longitudinal cyclicpiston control for main rotor blades, with with second servo loop to carry out speed adjusting by the blade of propelling screws is averaged to pitch control, wherein the method also comprises the angle of inclination by carry out level of control tail plane with tertiary circuit, thereby for given gait of march and attitude, make the total output minimum being consumed by main rotor and propelling screws, and tertiary circuit is for controlling and regulate the described angle of inclination of tailplane plane.
Therefore, this control and control method can be controlled the tail plane of hybrid aircraft, thus for aircraft at the given equilibrium point aspect speed and attitude, power ratio shared between rotor and propelling screws is changed and is optimized.Determine this equilibrium point by the first loop and second servo loop, the first loop is for by longitudinal cyclicpiston control, longitudinal attitude or pitching being regulated, and second servo loop is for controlling governing speed by the average pitch to propelling screws.
According in one embodiment of the invention, this control and control method comprise: by the angle of inclination that regulate tailplane plane, corresponding pitch control is worked, to share the total output being consumed between main rotor and propelling screws.
According in one embodiment of the invention, this control and control method comprise: only under the following conditions, activate the loop for the angle of inclination of tail plane are controlled and regulated:
Roll angle is less than 10 °;
Indicated air velocity IAS is greater than 100 joints (kts); And
Driving behavior on the control axis of aircraft, do not detected.
According in one embodiment of the invention, this control and control method are based on minimization algorithm, and this minimization algorithm comprises:
Step a), determines that engine installation is to the current power Pe controlling and regulating loop is exported after activating;
Step b), is stored the current power Pe carrying;
Step c), the first gait of march U=θ that is T to engine-driven tail plane time length
+control;
Steps d), then determine and store new current power Pe ';
Step e), compares Pe ' and Pe;
Step f), if Pe '>=Pe, the second gait of march U=θ that is T+1/2T to engine drive tail plane time length
-control, otherwise return to step b), wherein θ
-be and First Speed U=θ
+contrary speed;
Step g),, at the end value place of duration T+1/2T, determine and store new current power Pe ";
Step h), " compares Pe with Pe '; And
Step I), if Pe " >=Pe ', zero gait of march U of engine-driven tail plane is controlled, otherwise return to step b).
In one embodiment of this invention, this control and control method comprise: the control nargin of the longitudinal cyclicpiston to main rotor blades is controlled, and are less than predetermined threshold when described nargin, for example, while equaling 10%, suppress the engine drive to tail plane.
Under limit situations, though the attitude of aircraft be level or or even forward, chaufeur can have neighbour and be butted on the control stalk of underriding position.Under these situations, chaufeur does not have control nargin.Therefore, solution is, the control nargin of longitudinal cyclicpiston is monitored, and suppress the engine drive to tail plane during lower than predetermined threshold when this nargin.In a contrary limit structure, rotor enters rotation operational mode, and rotor blade become increasing to posterior area of fixigena, and be attended by the risk of physical damage.
According in an embodiment of the inventive method, a solution comprises: at main rotor under the condition from cyclogyro pattern, in the time arriving the minimum threshold of current power of main rotor, suppress the engine drive for positive movement (the leading edge upward movement of tail plane) to tail plane, and so act on as long as do not exceed continuing to greatest extent in mast moment.This can increase the weight of the fatigue of mast and rotor head.Therefore, according to control of the present invention and control method, to consumption of power, the distribution between propelling screws and main rotor is optimized, and guarantees to make longitudinal cyclicpiston can not reach the flank limit simultaneously or controls the nargin limit.
According in one embodiment of the invention, the method comprises: in rotation operational mode, (leading edge of tail plane is higher) is oriented end position to make tail plane forward, with strengthen aircraft from cyclogyro type structure.
This kind of structure makes to be easier to realize rotation, and this is because this structure remains on main rotor under negative power.If necessary, main rotor recedes and is therefore convenient to realize rotation.
Also realize object of the present invention by the control for carrying out rotor craft control and control method and control system, described rotor craft comprises that at least one main lifting rotor, at least one variablepiston propelling screws and at least one are for driving the engine installation of main rotor and screw propeller, and described control and control system comprise:
For carrying out the device in the first loop, carry out the first loop and with longitudinal periodic Control of the blade pitch by main rotor, longitudinal attitude or pitching are regulated; And
For carrying out the device of second servo loop, carry out second servo loop to carry out governing speed by propelling screws is averaged to pitch control;
Wherein, this control and control system also comprise:
For activating and the device of inactive tertiary circuit, activate and inactive tertiary circuit for the angle of inclination of engine-driven tailplane plane are controlled and are regulated;
Computing machine, this computing machine is for detection of the angle of inclination position that goes out engine-driven tailplane plane;
At least one actuator, this actuator is by computer controlled and drive engine-driven tailplane plane pivotable; And
At least one sensor, this sensor is for checking the position of angle of inclination.
In one embodiment, control and control system also can comprise that real time execution is to determine the device of mast moment and main rotor institute consumption of power.
Object of the present invention also realizes by a kind of personal vehicle system for rotor craft, this rotor craft has the propelling screws of at least one main lifting rotor, at least one variablepiston and at least one is for driving the actuating device of main rotor and screw propeller, wherein, this personal vehicle system comprises control as above and control system.
Also realize object of the present invention by a kind of for the rotor craft control program of carrying out control of the present invention and control method, wherein this program comprises the coding that is stored on the medium such as memory device or is embodied as signal, this coding can be read and/or carry out such as airborne treater or the data processing unit that is adapted to be mounted within the treater on rotor craft by least one, to control and/or to regulate the angle of inclination of engine-driven tailplane plane, this coding comprises and is respectively used to implement the characteristic manipulation of this control and control method or the coding section of step.
Also realize object of the present invention by a kind of aircraft of rotor craft type, this aircraft comprises control as above and control system.
Have the following advantages according to control of the present invention and control method tool: for given gait of march and attitude, the Dynamic Optimum that aircraft is consumed.
According to control of the present invention and control method also tool have the following advantages: increase the scope that aircraft can move.Therefore, for this scope is optimized, can sets horizontal attitude set point, indicated air velocity (IAS) is set as equating with maximum economical cruise speed, and be used for the relation of managing position, tail plane angle according to the invention process.Similarly for example in the time riseing with shallow gradient, can make attitude set point equate with the gradient of soaring flight path, and can there is the soaring speed as described gradient and described set point IAS function, then can implement the relation for managing position, tail plane angle, make the distance optimization that can move in the soaring stage.
In addition, have advantages of according to control of the present invention and control method the stability of aircraft of impact, this is because the main rotor that uses propelling pattern provides preferably stability for aircraft.
Also there is the rotation of being convenient to manipulation according to control of the present invention and control method.
In addition, the present invention can drop to lower than predetermined threshold (rotor is in autogyro pattern) and just suppress the engine drive to tail plane by dropping to once underriding nargin lower than predetermined threshold (rotor is in propelling pattern) or once accumulation pitch, meets the range of control of longitudinal cyclicpiston and the accumulation pitch of main rotor blades pitch.
Brief description of the drawings
From below, to the description of the embodiment providing with reference to accompanying drawing and by example, other aspects, features and advantages of the present invention become apparent, in the accompanying drawings:
Fig. 1 is according to the block diagram of a hybrid helicopter provided embodiment of the present invention;
Fig. 2 a is the diagrammatic side view of the hybrid helicopter provided embodiment of the present invention, comprises the movable tail plane that is deflected into given angle position;
Fig. 2 b is the diagrammatic side view of the hybrid helicopter provided embodiment of the present invention, has the movable tail plane that is deflected into another angle position; And
Fig. 3 illustrates a loop embodiment diagram of circuit, and in the scope of the control method according to the present invention, this loop is for controlling the angle of inclination of engine-driven tail plane according to institute's consumption of power balance.
Detailed description of the invention
In the application's meaning, term " hybrid helicopter provided " refers to and is equipped with the angle of rake rotor craft of at least one types of propellers, and is suitable for lift also have the operation of proprotor and also angle of rake operation regulated.
Unless pointed out that clearly or impliedly term " rotor " or " main rotor " refer to the rotor blade of rotor craft on the contrary.
Unless point out clearly or impliedly contrary, structurally with function on identical and more than one each identical figure notation or the alphabetic flag of being endowed of the element shown in accompanying drawing.
Referring to Fig. 1, specifically, hybrid helicopter provided 1 comprises fuselage 2 and main rotor 10, fuselage 2 has and is located at its anterior driving compartment 7, main rotor 10 is for driving blade 11 to rotate under the propulsive effort effect transmitting from two turbine engines 5 and via the first main-gear box MGB (not shown at Fig. 1), and these two turbine engines are arranged in the top (cannot see owing to there is fairing at Fig. 1) of fuselage 2 and on the both sides of longitudinal symmetrical plane of aircraft.
In addition, hybrid helicopter provided 1 is provided with high wing 3, and high wing is made up of two half wings 8 that are arranged on fuselage 2 tops, and these half wings 8 substantially have rectangular planar shape and have negative dihedral angle.
Hybrid helicopter provided 1 is advanced by two propelling screws 6, and these two propelling screws are driven by two turbine engines 5, and one of them propelling screws 6 is positioned at each end of wing 3.
In addition, near the tail end of fuselage 2, be provided with stable and control surface, this is stablized and control surface is used for providing the control of facing upward,, having two can be with respect to the tailplane plane 30 of the control surface 25 and 35 of facing upward of anterior 34 motions, and this stable and control surface is used to two suitable empennages 40 to provide and turns to control, and these two empennages 40 are positioned at the respective end place of tailplane plane 30 separately.
Advantageously, empennage 40 vertical or that tilt with respect to vertical line can be made up of corresponding static front portion (fin itself) 44, and the corresponding moving part that is configured for the yaw rudder 45 of driftage control is positioned at these static anterior 44 rears.
Exactly, tailplane plane 30 and cylindricality empennage 40 form an inversion U-shaped on fuselage 2 tops.
In addition, hybrid helicopter provided 1 is equipped with the driving chain (not shown in Fig. 1) of one, this driving chain is except two turbine engines 5, rotor 10 and two screw propellers 6, also comprise the mechanically interconnected system (not shown in figure 1) between these elements, should be appreciated that, rotor 10 and screw propeller 6 rotate in orthogonal plane instead of parallel plane.
Due to this structure, hybrid helicopter provided 1 is characterised in that, the rotating speed that turbine engine, screw propeller, rotor and mechanically interconnected system are exported is mutually proportional, integrating under the normal operating conditions of driving chain, regardless of hybrid helicopter provided flight structure, this ratio is all constant.
Certainly,, in possible mechanical breakdown situation, also can enable the specific device outside the scope of the invention.
For conventional helicopters or according to aircraft of the present invention, speed setting value can be considered to constant.But the method that existence itself is known, is used for calculating and/or the speed setting value of definite propelling screws 6.In some applications, under constant aircraft speed, speed setting value changes along with the atmospheric conditions such as height above sea level and temperature.
In the embodiments described below, specifically with reference to Fig. 2 a and 2b, static tail plane 30 and control surface 25 and 35 are advantageously substituted by tailplane plane 30, these tailplane plane 30 entirety are by direct motor drive, and are positioned in the respective side portion and corresponding vertical tab portion 40a of aircraft.
Fig. 2 a is the diagrammatic side view of an embodiment of the present invention hybrid helicopter provided 1, comprises the movable tailplane plane 30 that is deflected into the first angle position.
Fig. 2 b is the diagrammatic side view of an embodiment of the present invention hybrid helicopter provided 1, comprises the movable tailplane plane 30 that is deflected into the second angle position.
Construct to illustrate the first angle position and second angle position of tail plane with different flight.
Arrow M, C, V and F correspond respectively to main rotor lift, main rotor the moment of longitudinally facing upward or dive, the propulsive force being produced by propelling screws 6 and be applied on aircraft empennage make a concerted effort or tail plane on lift.
By example, the invention provides and control and control system, this control and control system are used for implementing control and the control method for rotor craft.This control and control system comprise device for carrying out the first loop and for carrying out the device of second servo loop, carry out the first loop by longitudinal periodic Control, pitching or longitudinal attitude are regulated, and carry out second servo loop to control governing speed by the average pitch to propelling screws 6.
Control and control system also comprise device and computing machine, this device is to for controlling and regulating a tertiary circuit of engine-driven tailplane plane 30 angle of inclination activate and stop using, and this computing machine is for determining the angle of inclination position of engine-driven tailplane plane 30.
At least one electric actuator being driven by computing machine drives engine-driven tailplane plane 30 pivotables.
By example, by control the angle of tail plane 30 with at least one sensor, this sensor is measured the angular deflection position of described tail plane 30.
Control and control system also can comprise that real time execution is to determine the device of mast moment M and main rotor institute consumption of power.
This control and control system advantageously generate the part for the personal vehicle system of rotor craft.
Fig. 3 is the diagram of circuit of a loop embodiment, the control method according to the present invention, and this loop is for controlling the angle of inclination of engine-driven tail plane 30 according to institute's consumption of power balance.
Therefore, this control and control method relate to a kind of rotor craft with height and steady speed, and this rotor craft has the propelling screws 6 of at least one main lifting rotor, at least one variablepiston and at least one is for driving the actuating device of main rotor and at least one screw propeller 6.This control and control method comprise use the first loop and use second servo loop, use the first loop by main rotor blades is carried out to longitudinal cyclicpiston control, pitching or longitudinal attitude are regulated, and with second servo loop to control governing speed by the average pitch to propelling screws 6.
Also comprise according to control of the present invention and control method: be used for controlling and regulate the tertiary circuit of tailplane plane 30 angle of inclination to control the described angle of inclination of tailplane plane 30 by use, thereby for given gait of march and the attitude of rotor craft, make the total output minimum being consumed by main rotor and propelling screws 6.
In one embodiment, this control and control method comprise: by regulating tailplane plane 30 angle of inclination to work to corresponding pitch control, to share the total output being consumed between main rotor 10 and propelling screws 6.
In one embodiment, for activating for controlling and regulating the condition in the loop of tail plane 30 angle of inclination to be listed below:
Roll angle is less than 10 °;
Indicated air velocity IAS is greater than 100kts; And
Driving behavior on the control axis of aircraft, do not detected.
In one embodiment, this control and control method are based on minimization algorithm, and this minimization algorithm comprises:
Step a), determines that engine installation is to the current power Pe controlling and regulating loop is exported after activating;
Step b), is stored the current power Pe carrying;
Step c), the first gait of march U=θ that is T to engine-driven tail plane 30 time lengths
+control, wherein θ
+it is the upwards gait of march of tail plane 30 leading edges;
Steps d), then determine and store new current power Pe ';
Step e), compares Pe ' and Pe;
Step f), if Pe '>=Pe, the second gait of march U=θ that is T+1/2T to engine-driven tail plane time length
-control, otherwise return to step b), wherein θ
-be and First Speed U=θ
+contrary speed;
Step g),, at the end value place of duration T+1/2T, determine and store new current power Pe ";
Step h), " compares Pe with Pe '; And
Step I), if Pe " >=Pe ', zero gait of march U of engine-driven tail plane is controlled, otherwise return to step b).
By example, for example speed U be equal 0.1 degree per second (
o/ cireular frequency s), and duration T equals 10 seconds (s).
In one embodiment, the method according to this invention comprises: the control nargin of the longitudinal cyclicpiston to main rotor blades is controlled, and in the time that described nargin is less than predetermined threshold, suppresses the engine drive to tail plane 30.
In one embodiment, aircraft in the process of cyclogyro (autogyro) operational mode, under the condition of main rotor 10 in rotation operational mode, comprise according to control of the present invention and control method: in the time that the current power of main rotor reaches minimum threshold, suppress the engine drive to tail plane 30 along positive dirction (anterior high), and continue to suppress as long as do not exceed the constraint condition of maximum mast moment M, and maximum mast moment M can cause the fatigue of mast and rotor head to increase the weight of.
In one embodiment, and aircraft in cyclogyro operational mode process, be under the condition of main rotor rotation, comprise according to control of the present invention and control method: (anterior high) is oriented end position to make tail plane 30 forwards, to strengthen the rotation type structure of main rotor 10.
It is a kind of for implementing the rotor craft control program of this control and control method that the present invention also provides.This program comprises the coding that is stored on the medium such as memory device or is embodied as signal, this coding can be by reading and/or carry out such as data processing unit airborne or that be suitable for being placed on the treater on rotor craft, to control and/or to regulate the angle of inclination of engine-driven tailplane plane, this coding comprises and is respectively used to implement the peculiar operation of described control and control method or the coding section of step.
Therefore, for the aircraft of combination construction, engine-driven tail plane 30 has advantages of identical with conventional helicopters, reduces " attitude protuberance " and restriction aloft diving attitude forward.Move ahead under velocity conditions at the height of aircraft, the use of engine-driven tail plane 30 is very difficult.
Hybrid aircraft can fly with horizontal attitude, and this is to provide lift because main rotor is essentially aircraft.The tail plane with negative angle (leading edge of tail plane is downward) produces upward pitching moment on aircraft.In order to keep horizontal attitude, need periodic Control to adopt underriding position, thus the effect that resists tail plane 30 with main rotor 10.Then, main rotor is in propelling pattern, and it rises component of force for propulsion aircraft.So the power being consumed by main rotor 10 is higher.At the example of this kind of structure shown in Fig. 2 a.
In contrary situation, the tail plane 30 with positive angle (leading edge of tail plane upwards) produces and causes aircraft to have the moment of diving attitude.In order to keep horizontal attitude, need to carry out periodic Control to obtain the attitude of facing upward.Then, main rotor 10 forwards to from cyclogyro pattern, and its thrust is only used to aircraft that lift is provided, thereby the consumption of power of main rotor is lower or or even zero or negative value.At the example of this kind of structure shown in Fig. 2 b.
In addition,, in order to keep constant speed, propelling screws 6 need to compensate the variation of institute's perception aspect the propulsive force from main rotor 10.If main rotor 10 is in propelling pattern, this main rotor in reducing its lift/resistance ratios for propulsion aircraft.Then, can unload screw propeller 6, to preserve the identical gait of march of aircraft.This also can improve the propulsion coefficient of screw propeller 6.The pitch of screw propeller 6 can reduce, just as the power of screw propeller consumption can reduce.
Therefore,, under the condition that the angle of inclination of tail plane 30 change advancing constant airspeed, if the power being consumed by main rotor 10 increases, the power being consumed by screw propeller 6 reduces.
When aircraft is when from cyclogyro pattern, application class is like inference on the contrary.If the power being consumed by main rotor 10 when keeping identical speed of advance reduces, the pitch of screw propeller 6 needs to increase just as the consumption of power of screw propeller.In cyclogyro pattern, the lift/resistance ratios of main rotor 10 improves to some extent, but the propulsion coefficient of screw propeller 6 is deteriorated.
Therefore, the engine drive that puts on tail plane 30 can be adjusted by the sharing mode between main rotor 10 and screw propeller 6 power, keeps horizontal attitude and constant speed simultaneously.Stress on the mechanical part of main rotor 10 is to be present in stress in conventional helicopters significantly different.Therefore, tail plane can realize minimum power consumption by the location of carrying out according to the inventive method under the condition of given attitude.Can aspect performance standard and minimizing consumption of fuel, have a significant improvement by method and system of the present invention.
The control of tail plane 30 thereby formation the 3rd regulating loop, the 3rd regulating loop works in the balance aspect pitching and propelling to aircraft.Series connection actuator and actuator in parallel are first for being stabilized in aircraft the pitch axis of aircraft and advancing axis.Once attitude stabilization and speed maintain constant after, application additive regulating worked in the position of tail plane 30.Then, change the angle of tail plane 30, to seek the position of minimum power consumption, keep speed and the attitude of aircraft simultaneously.This can by shared consumption of power between main rotor 10 and screw propeller 6 and the corresponding efficiency under given gait of march realizes by them.
The method according to this invention, it is more particularly the method under the application scenario with a main rotor 10 and two propelling screws 6, also can have no difficulty and be transformed into the application scenario for example with single propelling screws 6 and/or two main lifting rotors 10, and this still within the scope of the present invention.
Airborne avionics system comprises various measurement functions and/or computing function, and these functions are suitable for providing the present invention flight parameter value used.These functions itself are all known, are therefore no longer described.
Certainly, the present invention also can have many modification on its embodiment.Although described some embodiment and embodiment, easily understand, can not provide all possible embodiment and embodiment exhaustively.Certainly can imagine and replace any in any or the described step in described device by equality unit or equivalent steps, and still fall within the scope of the present invention.
Claims (12)
1. a method of controlling and regulating thering is the rotor craft of high and stable gait of march, described rotor craft comprises at least one main lifting rotor (10), at least one variablepiston propelling screws (6) and at least one is for driving the engine installation of described main lifting rotor (10), described method comprises: use the first loop pitching or longitudinal attitude being regulated with longitudinal cyclicpiston control (C) of the blade by for described main lifting rotor (10), and use with the second servo loop by the blade of described variablepiston propelling screws (6) is averaged to pitch control carrying out speed adjusting, wherein said method also comprises controls tail plane (30,25,35) about the angle of inclination of level attitude, described tail plane is engine-driven tail plane, the control of described angle of inclination is adopted to control and regulate to the tertiary circuit of the described angle of inclination of described engine-driven tail plane, thereby for given gait of march and attitude, make the total output minimum being consumed by described main lifting rotor (10) and described variablepiston propelling screws (6).
2. control as claimed in claim 1 and control method, it is characterized in that, described method comprises: by by the angle of inclination of described engine-driven tail plane (30,25,35) are adjusted corresponding pitch control is worked, and between described main lifting rotor (10) and described variablepiston propelling screws (6), share the total output consuming.
3. control as claimed in claim 1 and control method, it is characterized in that, described method comprises: only under the following conditions, activate the loop for the angle of inclination of described engine-driven tail plane (30,25,35) are controlled and regulated:
Roll angle is less than 10 °;
Indicated air velocity IAS is greater than 100kts; And
Driving behavior on the control axis of described rotor craft, do not detected.
4. control as claimed in claim 3 and control method, is characterized in that, described method comprises:
Step a), is determined the current power Pe that engine installation is exported after described control and regulating loop are activated;
Step b), is stored the current power Pe carrying;
Step c), to described engine-driven tail plane (30,25,35) actuation duration first gait of march U=θ that is T
+control;
Steps d), then determine and store new current power Pe';
Step e), compares Pe' and Pe;
Step f), if Pe'>=Pe, the second gait of march U=θ that is T+1/2T to described engine-driven tail plane (30,25,35) actuation duration
-control, otherwise return to step b), wherein θ
-be and described First Speed U=θ
+contrary speed;
Step g), at the end value place of described actuation duration T+1/2T, determine and store new current power Pe'';
Step h), compares Pe'' and Pe'; And
Step I), if Pe, " >=Pe' controls zero gait of march U of described engine-driven tail plane, otherwise returns to step b).
5. control as claimed in claim 1 and control method, it is characterized in that, described method comprises: the control nargin of the longitudinal cyclicpiston to the blade for described main lifting rotor (10) is monitored, and suppresses the engine drive to described engine-driven tail plane (30,25,35) during lower than predetermined threshold when described nargin.
6. control as claimed in claim 1 and control method, it is characterized in that, described method comprises: described at least one under the condition of main lifting rotor (10) in rotation operational mode, in the time arriving the minimum threshold of current power of described main lifting rotor, suppress to described engine-driven tail plane (30,25,35) for the positive movement engine drive of (front portion upwards), and in mast moment (M), continue to greatest extent so effect as long as do not exceed.
7. control as claimed in claim 1 and control method, it is characterized in that, described method comprises: in rotation operational mode, make described engine drive tail plane (30,25,35) forward ground (front portion is upwards) be oriented end position, with strengthen described rotor craft from cyclogyro type structure.
8. one kind for carrying out control and the control system of rotor craft control as claimed in claim 1 and control method, described rotor craft comprises that at least one main lifting rotor (10), at least one variablepiston propelling screws (6) and at least one are for driving the engine installation of described main lifting rotor (10) and described screw propeller (6), and described control and control system comprise:
For carrying out the device in the first loop, carry out described the first loop longitudinal attitude or pitching being regulated with longitudinal periodic Control of the blade pitch by described main lifting rotor (10); And
For carrying out the device of second servo loop, carry out the described second servo loop that carrys out governing speed with the average pitch control of the blade by described variablepiston propelling screws (6);
Wherein, described control and control system also comprise:
For activating and the device of inactive tertiary circuit, activate and stop using for the described tertiary circuit that described engine-driven tail plane is controlled and regulated about the angle of inclination of level;
Computing machine, described computing machine is at least detecting the angle of inclination position of described engine-driven tail plane;
At least one actuator, described actuator is by described computer controlled and drive described engine-driven tail plane pivotable; And
At least one sensor, described sensor is used for checking described angle of inclination position.
9. control as claimed in claim 8 and control system, it is characterized in that, described control and control system comprise the device of real-time effect, to determine mast moment (M) and by power that described at least one, main lifting rotor (10) is consumed.
10. control as claimed in claim 8 and control system, described system comprises code storage medium, at least one reads and/or carries out coded data processing unit, to control and/or to regulate the angle of inclination of engine-driven tail plane (30,25,35) about level attitude, described data processing unit is airborne treater or is adapted to be mounted within the treater on rotor craft, and described coding comprises that coding section is for implementing to control as claimed in claim 1 and characteristic manipulation or the characterization step of control method.
11. 1 kinds of personal vehicle systems for rotor craft, described rotor craft has at least one main lifting rotor (10), at least one variablepiston propelling screws (6) and at least one for driving the engine installation of described main lifting rotor (10) and described variablepiston propelling screws (6), and wherein said personal vehicle system comprises control as claimed in claim 8 and control system.
12. 1 kinds of rotor crafts, described aircraft comprises control as claimed in claim 8 and control system.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR1001789 | 2010-04-27 | ||
| FR1001789A FR2959205B1 (en) | 2010-04-27 | 2010-04-27 | METHOD FOR CONTROLLING AND REGULATING THE TURNING ANGLE OF A HYBRID HELICOPTER VEHICLE |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102267561A CN102267561A (en) | 2011-12-07 |
| CN102267561B true CN102267561B (en) | 2014-09-17 |
Family
ID=43238462
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110112899.2A Active CN102267561B (en) | 2010-04-27 | 2011-04-25 | Method of operating and controlling the deflection angle of a control surface of a hybrid helicopter |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US8583295B2 (en) |
| EP (1) | EP2383184B1 (en) |
| CN (1) | CN102267561B (en) |
| AT (1) | ATE550251T1 (en) |
| FR (1) | FR2959205B1 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| US8583295B2 (en) | 2013-11-12 |
| EP2383184B1 (en) | 2012-03-21 |
| CN102267561A (en) | 2011-12-07 |
| EP2383184A1 (en) | 2011-11-02 |
| FR2959205A1 (en) | 2011-10-28 |
| ATE550251T1 (en) | 2012-04-15 |
| US20120153072A1 (en) | 2012-06-21 |
| FR2959205B1 (en) | 2012-04-13 |
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